US8786229B2 - Power-consumption calculating method of motor driving device, and control method of motor driving device using the power-consumption calculating method - Google Patents

Power-consumption calculating method of motor driving device, and control method of motor driving device using the power-consumption calculating method Download PDF

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Publication number
US8786229B2
US8786229B2 US13/382,200 US201013382200A US8786229B2 US 8786229 B2 US8786229 B2 US 8786229B2 US 201013382200 A US201013382200 A US 201013382200A US 8786229 B2 US8786229 B2 US 8786229B2
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motor
current
idc
power consumption
switching element
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US20120112671A1 (en
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Takashi Yamaguchi
Toru Kakebayashi
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Meidensha Corp
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Meidensha Corp
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/0077—Characterised by the use of a particular software algorithm

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  • This invention relates to a power-consumption calculating method in a driving of a motor driving device (hereinafter, referred to as a pseudo-current source inverter) mounting a chopper circuit, and a 120-degree conduction inverter, and a control method using the power-consumption calculating method.
  • a pseudo-current source inverter mounting a chopper circuit, and a 120-degree conduction inverter
  • FIG. 1 is a circuit configuration diagram showing one example of a general pseudo-current source inverter.
  • the pseudo-current source inverter includes a chopper circuit ch, an input voltage Vdc inputted into the chopper circuit ch, a six-step inverter INV which is configured to receive a direct-current power outputted from the chopper circuit ch, and to perform 120-degree conduction, and a diode D 1 connected in inverse-parallel to the chopper circuit section ch.
  • a direct current Idc is controlled by switching switching elements SW 1 and SW 2 of the chopper circuit ch, so as to make the input voltage Vdc and the chopper circuit ch serve as a control current source.
  • the power is supplied to a motor M which is a load by switching operation of a semiconductor switch element of the inverter INV.
  • control current source and the inverter INV are separated, as mentioned above.
  • the current control is performed in the chopper circuit ch of this control current source.
  • Patent Document 1 discloses a pseudo-current source inverter which uses an input voltage Vdc and a chopper circuit ch as a control current source, and which drives an inverter INV by 120-degree conduction method.
  • the power consumption at the driving of the motor M is calculated from a reactor current Idc which is often previously known, and an inverter input voltage Vout measured in the voltage sensor.
  • the reactor current Idc includes a return (recirculating) current Id flowing in a diode D 1 due to a commutation surge generated at the switching of the semiconductor element of the inverter INV.
  • This return current Id is a reactive power which does not flow in the motor M. Accordingly, for accurately calculating the power consumption of the motor M by using the reactor current Idc, it is necessary to consider the return current Id.
  • the inverter input voltage Vout becomes a rectangular voltage waveform due to the switching by the switching elements SW 1 and SW 2 of the chopper circuit ch. Accordingly, it is difficult to sense the voltage value.
  • the present invention is a technical idea created to solve the above-described problems, and solves the problems by calculating a power consumption at a driving of a motor by using an input voltage, a switching duty factor of a switching element, and a reactor current which are often previously known.
  • a power consumption calculating method for a motor driving device configured to step down an input voltage inputted to a chopper circuit by the chopper circuit including a series circuit of a first switching element having one end connected to a positive voltage side of the inputted direct-current voltage, and a reactor having one end connected to the other end of the first switching element, and a second switching element disposed between the connection point between the other end of the first switching element and the one end of the reactor, and a negative voltage side of the input voltage, to convert a direct-current power outputted from the chopper circuit to an alternating-current power by driving an inverter by 120-degree conduction, to output to a motor, and to clamp a surge voltage generated at commutation of the inverter to the input voltage by a diode connected in inverse-parallel to the series circuit
  • the power consumption calculating method comprises: calculating a power consumption of the motor driving device at driving of the motor by a following equation (a) from the input voltage
  • a power consumption is calculated by multiplying the power consumption of the motor driving device calculated in the equation (a) by an efficiency of the inverter.
  • a power control is performed by performing feedback of the power consumption of the motor driving device to an automatic controller.
  • a control method for a motor driving device configured to step down an input voltage inputted to a chopper circuit by the chopper circuit including a series circuit of a first switching element having one end connected to a positive voltage side of the inputted direct-current voltage, and a reactor having one end connected to the other end of the first switching element, and a second switching element disposed between the connection point between the other end of the first switching element and the one end of the reactor, and a negative voltage side of the input voltage, to convert a direct-current power outputted from the chopper circuit to an alternating-current power by driving an inverter by 120-degree conduction, to output to a motor, and to clamp a surge voltage generated at commutation of the inverter to the input voltage by a diode connected in inverse-parallel to the series circuit, the control method comprises: calculating a current command value by following equations (b) or (c) from the input voltage to the chopper circuit, a switching duty factor representing
  • Idc ref P ref Vdc ⁇ BDuty + L m ⁇ Idc ⁇ N 5 ⁇ Vdc ⁇ Idc 3 ( b )
  • Idc ref P ref ⁇ ⁇ Vdc ⁇ BDuty + L m ⁇ Idc ⁇ N 5 ⁇ Vdc ⁇ Idc 3 ( c )
  • the power consumption can be calculated by the present invention without providing the current sensor and the voltage sensor in addition to the voltage sensor arranged to sense the input voltage and the current sensor arranged to sense the reactor current.
  • the voltage sensor arranged to sense the input voltage is often previously provided for monitoring the battery voltage, and so on.
  • the current sensor arranged to sense the reactor current is often previously provided for controlling the switching element of the chopper circuit, and so on. In this case, it is unnecessary to add new current sensor and new voltage sensor for calculating the power consumption. Accordingly, it is possible to suppress the cost increase, and to suppress the size increase of the apparatus due to the installation space of the sensors.
  • FIG. 1 is a circuit diagram showing one example of a general pseudo-current source inverter.
  • FIG. 2 is a time chart showing one example of a current waveform of a return current Id flowing in a diode D 1
  • a symbol ch is a chopper circuit which is constituted by switching elements SW 1 and SW 2 , and a reactor Ldc.
  • a symbol Vdc is an input voltage inputted to the chopper circuit ch.
  • a symbol D 1 is a diode.
  • a symbol INV is an inverter.
  • a symbol M is a motor.
  • the chopper circuit ch includes a series circuit including a first switching element connected with a positive terminal side of the input voltage and a reactor; and a second switching element disposed between a connection point between the first switching element and the reactor, and a negative terminal of the input voltage.
  • the pseudo-current source inverter flows the current from the input voltage Vdc to the reactor Ldc at the driving of the motor M by switching the switching element SW 1 of the chopper circuit ch to an ON state, so as to store the energy in the reactor Ldc.
  • the switching element SW 1 is switched to an OFF state, the energy stored in the reactor Ldc is outputted through a diode provided in the switching element SW 2 to the inverter INV.
  • the inverter INV receives the direct-current power from the reactor Ldc, coverts this to the three-phase alternating-current power, and outputs to the motor M.
  • a semiconductor switching element constituting the inverter INV is switched to the ON state or the OFF state in accordance with the magnetic pole position of the motor M, and operated as 120 degree conduction inverter.
  • the inverter INV performs the commutation at each 120 degree, the surge voltage is generated. This is clamped to the input voltage Vdc through the diode D 1 and a free wheel diode of the semiconductor switching element constituting the inverter INV.
  • the motor M in the regenerative state, the motor M generates the induced voltage proportional to the rotational speed.
  • the switching element SW 2 of the chopper circuit ch when the switching element SW 2 of the chopper circuit ch is switched to the ON state, the current flows to the reactor Ldc through one of the free wheel diodes provided in the semiconductor switch element of the inverter INV, so as to store the energy in the reactor Ldc.
  • the switching element SW 2 is switched to the OFF state, the energy stored in the reactor Ldc is boosted (stepped up), and charged to the input voltage Vdc through the free wheel diode provided in the switching element SW 1 .
  • the inverter INV is operated as the synchronous rectifier, and the regenerative energy is charged to the input voltage Vdc.
  • a control section configured to output a gate signal to the semiconductor switch element of the inverter INV can employ either a sensor control to control by measuring the magnetic pole position of the motor M by the sensor, or a sensorless control to control without measuring the magnetic pole position of the motor M by the sensor.
  • the input voltage Vdc is a direct-current voltage source such as a power supply or a boost chopper.
  • the power consumption P is calculated by using the input voltage Vdc, the reactor current Idc, and the switching duty factor BDuty of the switching element SW 1 .
  • the power consumption P of the motor M is calculated by multiplying the inverter input voltage Vout by the inverter input current Iout.
  • the inverter input voltage Vout is a voltage obtained by stepping down the input voltage Vdc by the chopper circuit ch. Accordingly, the inverter input voltage Vout is determined by multiplying the input voltage Vdc by the switching duty factor BDuty of the switching element SW 1 .
  • the inverter input current Tout is a value obtained by subtracting the return current Id flowing in the diode D 1 , from the reactor current Idc.
  • the return current Id flows when the semiconductor switch element of the inverter INV is switched (when the commutation surge is generated). It was understood from the actual measured values that a time chart showing a current waveform of this return current Id becomes a saw-tooth wave it becomes the peak current Ipk at the surge voltage as shown in FIG. 2 .
  • a root-mean-square value (effective value) I [rms] of the return current Id is calculated.
  • the root-mean-square value can be calculated by root-mean-square of instantaneous value in one period.
  • the instantaneous value of the return current Id is represented by I.
  • a conduction time period is represented by A.
  • the one period is represented by B.
  • the root-mean-square value I [rms] of the return current Id can be determined by the following equation (2).
  • I ⁇ [ rms ] 1 B ⁇ ⁇ o A ⁇ I 2 ⁇ d t ( 2 )
  • the equation (2) is reduced to the following equation (5).
  • Ipk/A in the above-described equation (3) corresponds to the duty factor of the return current Id (the switching duty factor of the semiconductor switch element of the inverter INV).
  • the peak value Ipk of the return current Id is equal to the reactor current Idc. Therefore, the following equation (6) can be reduced into the following equation (7).
  • I ⁇ [ rms ] duty ⁇ Idc 3 ( 7 )
  • the duty factor of the return current Id (the switching duty factor of the semiconductor switch element of the inverter INV) is calculated.
  • This conduction time period A corresponds to commutation time tc (second) of each phase of the inverter.
  • the one period B is a value obtained by calculating a time period necessary for the one rotation of the motor M by dividing sixty seconds by the rotational speed N (rpm) of the motor M, and then by dividing that value by the commutation frequency (the switch frequency of the inverter INV; six in the first embodiment) in the one rotation of the motor M. Accordingly, the duty factor of the return current Id can be represented by the following equation (8).
  • the duty factor of the return current Id (the semiconductor switch element of the inverter INV) becomes the following equation (12).
  • the duty factor of the return current Id (the semiconductor switch element of the inverter INV) calculated by the following equation (12) into the above-described equation (7)
  • the root-mean-square value I [rms] of the return current Id can be represented by the following equation (13).
  • the power consumption P without providing other current sensors and other voltage sensors in addition to the voltage sensor to sense the input voltage Vdc and the current sensor to sense the reactor current Idc.
  • the voltage sensor to sense the input voltage Vdc is often previously provided for monitoring the battery voltage and so on.
  • the current sensor to sense the reactor current Idc is often previously provided for the control of the switching element of the chopper circuit ch and so on. In these case, it is unnecessary to add new current sensor and new voltage sensor for calculating the power consumption P. Accordingly, it is possible to suppress the cost increase, and to suppress the size increase due to the installation space of the sensors.
  • the value obtained by subtracting the root-mean-square value of the return current Id from the reactor current Idc is used as the inverter current Tout necessary when the power consumption P is calculated. Accordingly, in comparison with the case in which the reactor current Idc is used as the inverter input current Tout, it is possible to calculate the accurate power consumption P. Moreover, the inverter input voltage Vout necessary when the power consumption P is calculated becomes the rectangular voltage waveform due to the switching by the chopper circuit ch, and accordingly it is difficult to sense the accurate voltage value. However, in the first embodiment, the value obtained by multiplying the input voltage Vdc by the switching duty factor BDuty of the switching element SW 1 is set to the inverter input voltage Vout. Accordingly, it is possible to calculate the accurate power consumption P.
  • Idc ref P ref Vdc ⁇ BDuty + L m ⁇ Idc ⁇ N 5 ⁇ Vdc ⁇ Idc 3 ( 15 )
  • a circuit configuration of the pseudo-current source inverter in the second embodiment is identical to that of the first embodiment.
  • the power consumption P calculated in the above-described first embodiment is a value calculated by using the parameters (the input voltage Vdc, the buck (step-down) reactor current Idc, and the switching duty factor Bduty of the switching element SW 1 ) before and after the chopper circuit ch.
  • This value is a value calculated without considering the loss in the inverter INV. Therefore, the power consumption P calculated in the first embodiment is the average power before and after the chopper circuit ch with all the pseudo-current source inverter considered.
  • the power consumption P′ calculated in the second embodiment is the power consumption determined in consideration with the inverter loss. In comparison with the power consumption P calculated in the first embodiment, this becomes more accurate power consumption relative to the power consumption P calculated in the first embodiment. Moreover, by calculating the power consumption P′ at the driving of the motor M as in the second embodiment, it is also possible to attain the same effect as the first embodiment.
  • the simplified power control is performed by performing current control by calculating the current command value Idc ref , the current command value Idc ref is calculated by the following equation (17).
  • Idc ref P ref ⁇ ⁇ Vdc ⁇ BDuty + L m ⁇ Idc ⁇ N 5 ⁇ Vdc ⁇ Idc 3 ( 17 )
US13/382,200 2009-07-08 2010-07-08 Power-consumption calculating method of motor driving device, and control method of motor driving device using the power-consumption calculating method Expired - Fee Related US8786229B2 (en)

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JP2009162021A JP5343741B2 (ja) 2009-07-08 2009-07-08 モータ駆動装置の消費電力演算方法および消費電力演算方法を用いたモータ駆動装置の制御方法
JP2009-162021 2009-07-08
PCT/JP2010/061637 WO2011004871A1 (ja) 2009-07-08 2010-07-08 モータ駆動装置の消費電力演算方法および消費電力演算方法を用いたモータ駆動装置の制御方法

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US9722528B2 (en) 2013-05-16 2017-08-01 Mitsubishi Electric Corporation Motor control device

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JP5172992B2 (ja) * 2011-06-02 2013-03-27 ファナック株式会社 直流変換部の最大出力計算部を備えたモータ駆動装置
JP5204276B2 (ja) 2011-08-09 2013-06-05 ファナック株式会社 電力計算手段を備えたガスレーザ装置
DK2634882T3 (en) * 2012-02-29 2014-12-08 Abb Technology Ltd DC supply unit for a power supply unit
JP6183130B2 (ja) * 2013-10-09 2017-08-23 トヨタ自動車株式会社 モータ駆動システム
JP6366050B2 (ja) * 2013-10-29 2018-08-01 東芝ライフスタイル株式会社 家電機器および洗濯機
CN106230333B (zh) * 2016-08-17 2018-10-02 珠海格力电器股份有限公司 直流电机输出能力控制方法及系统
KR101906011B1 (ko) * 2016-12-13 2018-10-10 현대자동차주식회사 모터의 소모 전력 추정 방법
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US20120112671A1 (en) 2012-05-10
JP5343741B2 (ja) 2013-11-13
CN102474209B (zh) 2015-04-01
CN102474209A (zh) 2012-05-23
JP2011019333A (ja) 2011-01-27
DE112010002339T5 (de) 2012-08-02

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